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[Bindings] Add OdeSolver bindings
Signed-off-by: Jean-Nicolas Brunet <[email protected]>
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‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_OdeSolver.cpp

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/******************************************************************************
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* SofaPython3 plugin *
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* (c) 2021 CNRS, University of Lille, INRIA *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: [email protected] *
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******************************************************************************/
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#include <SofaPython3/Sofa/Core/Binding_OdeSolver.h>
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#include <SofaPython3/Sofa/Core/Binding_OdeSolver_doc.h>
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#include <SofaPython3/Sofa/Core/Binding_Base.h>
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#include <sofa/core/behavior/OdeSolver.h>
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#include <sofa/core/ExecParams.h>
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#include <SofaPython3/PythonFactory.h>
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#include <SofaPython3/PythonEnvironment.h>
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namespace py { using namespace pybind11; }
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namespace sofapython3 {
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using namespace sofa::core::behavior;
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class PyOdeSolver : public OdeSolver {
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public:
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SOFA_CLASS(PyOdeSolver, OdeSolver);
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void solve(const sofa::core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) final {
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PythonEnvironment::gil acquire;
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PYBIND11_OVERLOAD_PURE(void, OdeSolver, solve, params, dt, xResult, vResult);
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}
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};
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void moduleAddOdeSolver(py::module& m) {
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py::class_<OdeSolver, sofa::core::objectmodel::BaseObject, PyOdeSolver, py_shared_ptr<OdeSolver>> (m, "OdeSolver", doc::odesolver::OdeSolverClass)
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.def(py::init([](py::args & /*args*/, py::kwargs & kwargs) {
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auto o = sofa::core::sptr<PyOdeSolver> (new PyOdeSolver());
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for (auto kv : kwargs) {
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auto key = py::cast<std::string>(kv.first);
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auto value = py::reinterpret_borrow<py::object>(kv.second);
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BindingBase::SetAttr(*o.get(), key, value);
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}
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return o;
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}))
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;
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/// register the BaseState binding in the downcasting subsystem
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PythonFactory::registerType<OdeSolver>([](sofa::core::objectmodel::Base* object)
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{
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return py::cast(dynamic_cast<OdeSolver*>(object));
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});
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}
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} // namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_OdeSolver.h

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/******************************************************************************
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* SofaPython3 plugin *
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* (c) 2021 CNRS, University of Lille, INRIA *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: [email protected] *
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******************************************************************************/
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#pragma once
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#include <pybind11/pybind11.h>
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namespace sofapython3 {
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void moduleAddOdeSolver(pybind11::module &m);
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} /// namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_OdeSolver_doc.h

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/******************************************************************************
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* SofaPython3 plugin *
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* (c) 2021 CNRS, University of Lille, INRIA *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: [email protected] *
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******************************************************************************/
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#pragma once
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namespace sofapython3::doc::odesolver
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{
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static auto OdeSolverClass =
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R"(
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Component responsible for timestep integration, i.e. advancing the state from time t to t+dt.
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This class currently control both the integration scheme (explicit,
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implicit, static, etc), and the linear system resolution algorithm
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(conjugate gradient, matrix direct inversion, etc). Those two aspect will
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propably be separated in a future version.
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While all computations required to do the integration step are handled by
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this object, they should not be implemented directly in it, but instead
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the solver propagates orders (or Visitor) to the other components in the
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scenegraph that will locally execute them. This allow for greater
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flexibility (the solver can just ask for the forces to be computed without
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knowing what type of forces are present), as well as performances
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(some computations can be executed in parallel).
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)";
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}

‎bindings/Sofa/src/SofaPython3/Sofa/Core/CMakeLists.txt

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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ForceField.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ForceField_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_OdeSolver.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_OdeSolver_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_MechanicalParams.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_MechanicalParams_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ExecParams.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ForceField.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_OdeSolver.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_MechanicalParams.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_MultiVecId.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node.cpp

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp

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#include <SofaPython3/Sofa/Core/Binding_DataEngine.h>
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#include <SofaPython3/Sofa/Core/Binding_ExecParams.h>
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#include <SofaPython3/Sofa/Core/Binding_ObjectFactory.h>
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#include <SofaPython3/Sofa/Core/Binding_OdeSolver.h>
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#include <SofaPython3/Sofa/Core/Binding_MechanicalParams.h>
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#include <SofaPython3/Sofa/Core/Binding_MultiVecId.h>
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#include <SofaPython3/Sofa/Core/Binding_Node.h>
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moduleAddExecParams(core);
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moduleAddForceField(core);
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moduleAddObjectFactory(core);
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moduleAddOdeSolver(core);
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moduleAddMechanicalParams(core);
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moduleAddMultiVecId(core);
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moduleAddNode(core);

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